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package edu.hcrhs.frc2012.subsystems;

import edu.hcrhs.frc2012.RobotMap;
import edu.hcrhs.frc2012.commands.DriveWithJoysticks;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.RobotDrive;
//import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.Subsystem;


/**
 *
 * @author amorawski
 */
public class DriveTrain extends Subsystem {
    // Put methods for controlling this subsystem
    // here. Call these from Commands.
    
    private RobotDrive drive;
    
    
    public DriveTrain()
    {
        super("DriveTrain");
        drive = new RobotDrive(new Jaguar(RobotMap.digitalModuleSlot, RobotMap.Traction.leftMotor_1), 
                               new Jaguar(RobotMap.digitalModuleSlot, RobotMap.Traction.leftMotor_2), 
                               new Jaguar(RobotMap.digitalModuleSlot, RobotMap.Traction.rightMotor_1), 
                               new Jaguar(RobotMap.digitalModuleSlot, RobotMap.Traction.rightMotor_2));
        
        drive.setSafetyEnabled(false);
       
       
    }

    public void initDefaultCommand() {
        // Set the default command for a subsystem here.
        setDefaultCommand(new DriveWithJoysticks());
       
    }
    
    
    
    
    
    public void tankDrive(double left, double right)
    {
        
        drive.tankDrive(left, right);
    }
}
